Convoy travel control apparatus

ABSTRACT

This convoy travel control apparatus includes: a communication portion; a travel control portion; and a joining control portion, wherein when an own vehicle is travelling in convoy, if the communication portion has received, from an independent vehicle not incorporated in group of convoy vehicles travelling in convoy, request information to incorporate the independent vehicle into the group of convoy vehicles, then the joining control portion determines a positional relationship between a position of the group of convoy vehicles and a position of the independent vehicle, and wherein according to the determined positional relationship, then the joining control portion exercises control, which is for incorporating the independent vehicle into the group of convoy vehicles, on the group of convoy vehicles via the communication portion.

TECHNICAL FIELD

The present invention relates to a convoy travel control apparatus.

The present application claims priority based on Japanese PatentApplication No. 2013-232240 filed on Nov. 8, 2013, the contents of whichare incorporated herein by reference.

BACKGROUND ART

There is disclosed a convoy travel control apparatus that is capable ofallowing an independent vehicle to merge with a group of convoy vehiclestravelling in convoy (for example, see Patent Document 1).

RELATED ART DOCUMENT Patent Document

Patent Document 1: Japanese Unexamined Patent Application, FirstPublication No. 2001-6099

SUMMARY Problems to be Solved by the Invention

However, conventional convoy travel control apparatuses have a problemin that they are not capable of allowing an independent vehicle tospeedily merge with a group of convoy vehicles.

Aspects of the present invention have been achieved in consideration ofthe aforementioned circumstances, and provide a convoy travel controlapparatus capable of allowing an independent vehicle to speedily mergewith a group of convoy vehicles.

Means For Solving the Problem

(1) A convoy travel control apparatus according to aspects of thepresent invention includes: a communication portion that communicateswith another vehicle; a travel control portion that actualizes travel inconvoy with the another vehicle through communication via thecommunication portion; and a joining control portion, wherein when anown vehicle is travelling in convoy, if the communication portion hasreceived, from an independent vehicle not incorporated in group ofconvoy vehicles travelling in convoy, request information to incorporatethe independent vehicle into the group of convoy vehicles, then thejoining control portion determines a positional relationship between aposition of the group of convoy vehicles and a position of theindependent vehicle, and wherein according to the determined positionalrelationship, then the joining control portion exercises control, whichis for incorporating the independent vehicle into the group of convoyvehicles, on the group of convoy vehicles via the communication portion.

(2) In the convoy travel control apparatus as described above in (1), ifthe independent vehicle is travelling behind the group of convoyvehicles, then the joining control portion may decelerate the group ofconvoy vehicles, and wherein if the independent vehicle is travelling infront of the group of convoy vehicles, then the joining control portionmay transmit, via the communication portion, information that requiresto accelerate the group of convoy vehicles.

(3) The convoy travel control apparatus as described above in (1) or (2)may further include: a sensor portion that measures an inter-vehiculardistance between the own vehicle and a preceding vehicle; aninter-vehicular distance control portion that controls a travel driveportion of the own vehicle so that the inter-vehicular distance measuredby the sensor portion is a set distance; and a lane keeping controlportion that controls a steering portion of the own vehicle so that theown vehicle does not deviate from a driving lane, wherein: the joiningcontrol portion may determine whether an inter-vehicular distance and adifference in speed between convoy vehicles incorporated in the group ofconvoy vehicles are within predetermined ranges or not, and wherein ifthe inter-vehicular distance and the difference in speed between theconvoy vehicles are within the predetermined ranges, then the travelcontrol portion may cause the own vehicle to travel in convoy based oncontrol by the inter-vehicular distance control portion and on controlby the lane keeping control portion.

(4) In the convoy travel control apparatus as described above in (3), ifthe own vehicle is travelling in convoy, then the travel control portionmay order the inter-vehicular distance control portion to performinter-vehicular distance control with the set distance shorter than acase where the own vehicle is not travelling in convoy.

(5) In the convoy travel control apparatus as described above in any oneof (1) to (4), if the independent vehicle is travelling behind the groupof convoy vehicles, then the joining control portion may generateinformation of speed change request that accelerates the independentvehicle, wherein if the independent vehicle is travelling in front ofthe group of convoy vehicles, then the joining control portion maygenerate information of speed change request that decelerates theindependent vehicle, and wherein the joining control portion maytransmit the generated information of speed change request to theindependent vehicle via the communication portion.

(6) The convoy travel control apparatus as described above in any one of(1) to (5) may further include the sensor portion that measures theinter-vehicular distance between the own vehicle and the precedingvehicle, wherein: the joining control portion may calculate a positionof the preceding vehicle based on the inter-vehicular distance measuredby the sensor portion, and wherein if a distance between the calculatedposition of the preceding vehicle and a position of a convoy vehicleincorporated into the group of convoy vehicles is within a predetermineddistance, then the joining control portion may determine that thepreceding vehicle is the convoy vehicle.

(7) The convoy travel control apparatus as described above in any one of(1) to (6) may further include: a forward imaging portion that takes animage of the preceding vehicle; an image recognition portion that, basedon an image taken by the forward imaging portion, recognizes anidentification number allocated to the imaged preceding vehicle; and anidentification information sharing portion that receives anidentification number allocated to the convoy vehicle incorporated intothe group of convoy vehicles, wherein if the identification numberallocated to the imaged preceding vehicle matches with theidentification number allocated to the convoy vehicle, then the joiningcontrol portion may determine that the imaged preceding vehicle is theconvoy vehicle.

(8) The convoy travel control apparatus as described above in (3) or (4)may further include a state information sharing portion that receivesinformation indicative of a state in front of or behind the group ofconvoy vehicles, wherein according to the information indicative of thestate in front of or behind the group of convoy vehicles, the travelcontrol portion may control travel of the group of convoy vehicles.

(9) In the convoy travel control apparatus as described above in (8), ifthe information indicative of the state in front of or behind the groupof convoy vehicles is information indicative of a predetermined event,then the travel control portion may order the inter-vehicular distancecontrol portion to change the inter-vehicular distance.

(10) In the convoy travel control apparatus as described above in (8) or(9), if the information indicative of the state in front of or behindthe group of convoy vehicles is information indicative of apredetermined event, then the travel control portion may order the lanekeeping control portion to change a position of the own vehicle withrespect to a lane. (11) The convoy travel control apparatus as describedabove in any one of (8) to (10) may further include a communicationcontrol portion, wherein if the communication portion receives at leasteither of image information in which an interior of the convoy vehicleincorporated in the group of convoy vehicles is taken and voiceinformation collected from the interior of the convoy vehicle, thenaccording to the information indicative of the state in front of orbehind the group of convoy vehicles, the communication control portionmay control the presentation portion so as to present at least either ofthe image information and the voice information.

(12) In the convoy travel control apparatus as described above in (11),the communication control portion may transmit voice information, whichhas been collected from the own vehicle, via the communication portionbased on an operation input.

(13) The convoy travel control apparatus as described above in (11) mayfurther include a storage portion that stores point information grantedto a driver according to experience of driving the convoy vehicle,wherein the presentation portion may present the point information.

(14) In the convoy travel control apparatus as described above in (13),the storage portion may store the point information granted to thedriver according to the experience that satisfies a preset condition.

(15) The convoy travel control apparatus as described above in any oneof (1) to (14) may further include a position information sharingportion that receives information indicative of a trail of a precedingvehicle, wherein the travel control portion may cause an own vehicle tofollow the trail.

Advantage of the Invention

According to the aspects of the present invention, in the convoy travelcontrol apparatus, the joining control portion determines a positionalrelationship between a position of a group of convoy vehicles and aposition of an independent vehicle and, according to the determinedpositional relationship, exercises control, which is for incorporatingthe independent vehicle into the group of convoy vehicles, on the groupof convoy vehicles via the communication portion. As a result, it ispossible to speedily merge the independent vehicle with the group ofconvoy vehicles.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view showing an exemplary convoy travel controlapparatus that is arranged in a communication vehicle, according to afirst embodiment of the present invention.

FIG. 2 is a block diagram showing an exemplary configuration of theconvoy travel control apparatus, according to the first embodiment ofthe present invention.

FIG. 3 is an overhead view showing an exemplary positional relationshipbetween a group of convoy vehicles and an independent vehicle, accordingto the first embodiment of the present invention.

FIG. 4 is a diagram showing an exemplary method in which a followervehicle follows a preceding vehicle as a convoy vehicle, according tothe first embodiment of the present invention.

FIG. 5 is a flow chart showing an exemplary operational procedure inwhich a preceding vehicle as a convoy vehicle transmits coordinatesrepresentative of a trail of its own vehicle to a follower vehicle,according to the first embodiment of the present invention.

FIG. 6 is a flow chart showing an exemplary operational procedure ofsteering a follower vehicle, according to the first embodiment of thepresent invention.

FIG. 7 is a diagram showing a method in which an independent vehiclemerges with a group of convoy vehicles from behind the group of convoyvehicles, according to the first embodiment of the present invention.

FIG. 8 is a diagram showing a method in which an independent vehiclemerges with a group of convoy vehicles from front of the group of convoyvehicles, according to the first embodiment of the present invention.

FIG. 9 is a flow chart showing an operational procedure in which anindependent vehicle merges with a group of convoy vehicles from behindthe group of convoy vehicles, according to the first embodiment of thepresent invention.

FIG. 10 is a flow chart showing an operational procedure in convoyformation mode in which an independent vehicle merges with a group ofconvoy vehicles from front of or behind the group of convoy vehicles,according to the first embodiment of the present invention.

FIG. 11 is a diagram showing a situation in which an independent vehicledetermines that a preceding vehicle directly ahead is anon-communication vehicle, according to the first embodiment of thepresent invention.

FIG. 12 is a diagram showing a situation in which an independent vehicledetermines that a preceding vehicle directly ahead is a communicationvehicle, according to the first embodiment of the present invention.

FIG. 13 is a flow chart showing an exemplary operational procedure inwhich an independent vehicle determines whether a preceding vehicledirectly ahead is a communication vehicle or not, according to the firstembodiment of the present invention.

FIG. 14 is a diagram showing a first example of human interface image,according to the first embodiment of the present invention.

FIG. 15 is a diagram showing an example of how to display videos ofinteriors of convoy vehicles, according to the first embodiment of thepresent invention.

FIG. 16 is a diagram showing a first example of positional relationshipamong vehicles in the case where a leading vehicle notifies followervehicles of an event ahead, according to the first embodiment of thepresent invention.

FIG. 17 is a diagram showing a second example of positional relationshipamong vehicles in the case where a leading vehicle notifies followervehicles of an event ahead, according to the first embodiment of thepresent invention.

FIG. 18 is a diagram showing a third example of positional relationshipamong vehicles in the case where a leading vehicle notifies followervehicles of an event ahead, according to the first embodiment of thepresent invention.

FIG. 19 is a diagram showing an exemplary presentation by a presentationportion that notifies events ahead, according to the first embodiment ofthe present invention.

FIG. 20 is a flow chart showing an exemplary operational procedure of apreceding vehicle as a convoy vehicle, according to the first embodimentof the present invention.

FIG. 21 is a flow chart showing an exemplary operational procedure of afollower vehicle, according to the first embodiment of the presentinvention.

FIG. 22 is a diagram showing a method in which an independent vehiclecuts in between and merges with convoy vehicles, according to a secondembodiment of the present invention.

FIG. 23 is a flow chart showing an operational procedure in convoyformation mode in which an independent vehicle merges with a group ofconvoy vehicles from a side of the group of convoy vehicles, accordingto the second embodiment of the present invention.

FIG. 24 is a diagram showing a second example of human interface image,according to a third embodiment of the present invention.

DESCRIPTION OF THE EMBODIMENTS First Embodiment

A first embodiment for carrying out the present invention will bedescribed. Hereinafter, a vehicle capable of wirelessly communicatingwith other vehicles is referred to as “communication vehicle”.Furthermore, any one of the vehicles that travel in convoy whilemaintaining some degree of distance between themselves by communicatingwith one another is referred to as “convoy vehicle”. Of the vehiclesincorporated in a group of convoy vehicles, the head of the convoyvehicles is referred to as “leading vehicle”. Of the vehiclesincorporated in the group of convoy vehicles, any one of the vehiclesother than the leading vehicle is referred to as “follower vehicle”. Ofthe vehicles incorporated in the group of convoy vehicles, the tail endof the convoy vehicles is referred to as “tail end vehicle”. A vehicletravelling independently of the group of convoy vehicles is referred toas “independent vehicle”.

In the first embodiment, a convoy travel control apparatus is describedthat helps an independent vehicle merge in front of the leading vehicleor behind the last vehicle, namely, merge with the group of convoyvehicles at its head or tail.

FIG. 1 is a perspective view of an exemplary convoy travel controlapparatus that is arranged in a communication vehicle. When mounted in acommunication vehicle 1 and arranged in predetermined positions, aconvoy travel control apparatus 100 moves together with thecommunication vehicle 1. Functional portions of the convoy travelcontrol apparatuses 100 are capable of communicating with one anotherover the in-vehicle network of the communication vehicles 1. Thein-vehicle network is constructed according to a protocol such as CAN(Controller Area Network).

The communication vehicle 1 supports a vehicle-to-vehicle communication,and hence, can be a convoy vehicle. On the other hand, thenon-communication vehicle does not mount a convoy travel controlapparatus 100. Therefore, the non-communication vehicle does not supporta vehicle-to-vehicle communication, and hence, cannot be a convoyvehicle.

If, when its own vehicle is travelling in convoy, receiving requestinformation to incorporate an independent vehicle into the group ofconvoy vehicles, then the convoy travel control apparatus 100 controlsthe travel of the group of convoy vehicles according to a positionalrelationship between a position of the group of convoy vehicles and aposition of the independent vehicle, to thereby make it possible tospeedily merge the independent vehicle with the group of convoyvehicles.

FIG. 2 is a block diagram showing an exemplary configuration of theconvoy travel control apparatus. The convoy travel control apparatus 100includes: a positioning portion 10: an imaging portion 20: a microphone23; a communication portion 30; a sensor portion 40; an inter-vehiculardistance control portion 50; a lane keeping control portion 60; acontrol portion 70; a presentation portion 80; an operation inputportion 90; and a storage portion 95.

One, two or all of the inter-vehicular distance control portion 50, thelane keeping control portion 60, and the control portion 70 are softwarefunctional portions that are functioned by, for example, a processorsuch as a CPU (Central Processing Unit) executing a program stored inthe storage portion 95. Furthermore, one, two, or all of thesefunctional portions may be hardware functional portions such as an LSI(Large Scale Integration) or an ASIC (Application Specific IntegratedCircuit). The storage portion 95 includes: a RAM (Random Access Memory)or a ROM (Read Only Memory), a flash memory, an HDD (Hard Disk Drive), aregister, or the like.

The positioning portion 10 repeatedly measures the position of its ownvehicle at predetermined intervals. The positioning portion 10 measuresthe position of its own vehicle by, for example, receiving radio wavesfrom satellites. The satellites are, for example, the GPS (GlobalPositioning System) satellites. As a result, when its own vehicletravels, the positioning portion 10 measures plural sets of coordinatesthat represent a trail of its own vehicle. Furthermore, the positioningportion 10 may carry out point positioning only by use of radio wavesfrom satellites or may carry out positioning by use of the D-GPS(Differential GPS).

The imaging portion 20 has a forward imaging portion 21 and anin-vehicle imaging portion 22. The forward imaging portion 21 has animage pickup device such as a CCD (Charge Coupled Device) or a CMOS(Complementary Metal Oxide Semiconductor). The imaging portion 20 takesa motion picture image ahead of its own vehicle, generates imageinformation, and outputs it to the control portion 70. In the motionpicture image taken by the forward imaging portion 21, for example apart in which the preceding vehicle and/or the lane are imaged isincluded. Furthermore, in the motion picture image of the precedingvehicle that has been taken, a license plate number displayed on therear end of the preceding vehicle may be imaged.

Similarly to the forward imaging portion 21, the in-vehicle imagingportion 22 has an image pickup device such as a CCD or a CMOS. Thein-vehicle imaging portion 22 takes a motion picture image of theinterior of its own vehicle, generates image information, and outputs itto the control portion 70. In the motion picture image taken by thein-vehicle imaging portion 22, for example the driver and/orpassenger(s) of its own vehicle are imaged.

The microphone 23 collects a voice produced in the interior of its ownvehicle, generates voice information, and outputs it to the controlportion 70.

The communication portion 30 conducts wireless communication between thein-vehicle network of its own vehicle and the in-vehicle network ofother communication vehicle(s) through vehicle-to-vehicle (V2V)communication. The communication portion 30 stores transmitted orreceived information in the storage portion 95 for data backup.

Between the communication vehicles, control-system information istransferred through vehicle-to-vehicle communication, to thereby makethe vehicle-to-vehicle link of control available. The communicationportion 30 conducts wireless communication with other communicationvehicles based on, for example, the Wi-Fi communication standard or the802.11 standard. Furthermore, the communication portion 30 is alsocapable of conducting wireless communication with other communicationvehicles via a wireless station based on a predetermined cellularcommunication standard.

Furthermore, the communication portion 30 may conduct wirelesscommunication with a server apparatus via a wireless station based on apredetermined cellular communication standard. The server apparatus is,for example, a cloud server apparatus. Note that the wirelesscommunication standard on which the communication portion 30communicates is not limited to the Wi-Fi communication standard, the802.11 standard, or the cellular communication standard, but may be anycommunication standard.

The sensor portion 40 is, for example, a millimeter wave radar apparatusor a laser radar apparatus. The sensor portion 40 measures: a distancebetween its own vehicle and an object that is present ahead of its ownvehicle; and a direction of the object with respect to its own vehicle,and then outputs a signal in accordance with the measurement result tothe control portion 70.

The inter-vehicular distance control portion 50 (ACC portion: AdaptiveCruise Control portion) controls an inter-vehicular distance between itsown vehicle and the preceding vehicle. To be more specific, theinter-vehicular distance control portion 50 refers to the output fromthe sensor portion 40, and controls the engine or the like (not shown inthe figures) so that the inter-vehicular distance between its ownvehicle and the preceding vehicle travelling directly in front of itsown vehicle matches with a preset inter-vehicular distance (setdistance).

The lane keeping control portion 60 (LKAS portion: Lane Keep AssistSystem) controls a steering apparatus (not shown in the figures) so thatits own vehicle does not deviate from the driving lane. To be morespecific, the lane keeping control portion 60 extracts characteristicpoints (for example, pixels whose brightness gradient is equal to apredetermined value or greater) in the image taken by the forwardimaging portion 21, and furthermore, extracts linearly-alignedcharacteristic points. Then, the lane keeping control portion 60recognizes a lane division line drawn or laid on the road by patternmatching processing or the like. Furthermore, based on the position ofthe recognized lane division line, the lane keeping control portion 60virtually generates a path for its own vehicle not to deviate from thedriving lane, and then outputs a control signal, which indicates asteering angle for travelling along the generated path, to a steeringapparatus (not shown in the figures).

If the lane is not imaged in the image taken by the forward imagingportion 21, then the lane keeping control portion 60 exercises steeringcontrol so as to follow the preceding vehicle detected by the sensorportion 40, while requesting the driver to steer. Note that if the laneis not imaged in the image taken by the forward imaging portion 21, thenthe lane keeping control portion 60 may exercise steering control basedon the position of its own vehicle that has been detected by thepositioning portion 10, while requesting the driver to steer.

The control portion 70 will be described later. In accordance with theinformation indicative of the state in front of or behind the group ofconvoy vehicles, the presentation portion 80 presents at least either ofthe image information and the voice information. The presentationportion 80 includes, for example, a display apparatus (display device)that has a display portion, a speaker, or the like. Based on the imageinformation, the presentation portion 80 displays an image on thedisplay portion and outputs a voice. The image may be a motion pictureimage or a still image. The presentation portion 80 displays imagesrepresentative of operation keys and images representative of messages.

If the control portion 70 determines that it is possible for each of thegroup of convoy vehicles to travel safely, the presentation portion 80allows the driver of its own vehicle to perform operations other thandriving. The condition in which it is possible for each of the group ofconvoy vehicles to travel safely is, for example, a condition in which,through communication between the follower vehicle and the precedingvehicle, it is possible for the follower vehicle to be driven by theinter-vehicular distance control portion 50 and the lane keeping controlportion 60, to thereby follow the preceding vehicle and travel inconvoy, even if follower vehicle is not driven by the driver. Note thatallowable operations other than driving include, for example, anoperation input via an operation key for transmitting a message to otherconvoy vehicles, an operation input via an operation key for startingthe viewing of a motion picture image, and the like.

The operation input portion 90 is, for example, a touchscreen providedintegrally with the presentation portion 80, and detects an operationinput via an image of an operation key that is displayed on thepresentation portion 80. The operation input portion 90 accepts theoperation input, and then outputs, to control portion 70, an operationinput signal in accordance with the operation input. The operation inputis performed by the driver and/or passenger(s) of the communicationvehicle 1. The operation input signals include, for example, one by anoperation that request a termination of travelling in convoy. Note thatthe operation input portion 90 may include a mechanical input portion.

The storage portion 95 stores various pieces of information. The variouspieces of information are, for example, information on programs executedby the processor, information transmitted or received by thecommunication portion 30, and point information granted to the driveraccording to the experience of driving a convoy vehicle. The pointinformation is information indicative of the points granted to thedriver according to the experience that satisfies predeterminedconditions. The predetermined conditions are conditions for safetydriving, for example, based on: the time and distance for which thedriver has driven a convoy vehicle; the time and distance for which thedriver has driven a leading vehicle; the number of times that the driverhas merged an independent vehicle with a group of convoy vehicles; andsmooth steering or braking operation. Whether the safety conditions aresatisfied or not may be determined by the convoy travel controlapparatus 100 that is mounted in its own vehicle or may be determined bya convoy travel control apparatus 100 that is mounted in a vehicle otherthan its own vehicle. Note that the point information is exchangeableto, for example, a predetermined coupon ticket (for example, a couponticket for vehicle inspection).

The control portion 70 has: a travel control portion 71; an imagerecognition portion 71 a; a joining control portion 72; a communicationcontrol portion 73; and an information sharing portion 74. Theinformation sharing portion 74 has: a position information sharingportion 74 a; an identification information sharing portion 74 b; and astate information sharing portion 74 c.

FIG. 3 is an overhead view showing an exemplary positional relationshipbetween a group of convoy vehicles and an independent vehicle. Theoverhead view is displayed on the presentation portion 80. In FIG. 3, anindependent vehicle is travelling behind a group of convoy vehicles thatis reserved as a target of incorporation. Here, a communication vehicle1-1 and a communication vehicle 1-2 are travelling in convoy, and arewithin a distance in which the vehicle-to-vehicle communication throughdirect wireless communication is available (in FIG. 3, a distancedenoted with a broken line). On the other hand, at the time which isshown in FIG. 3, a communication vehicle 1-3 is an independent vehicle,and is at a faraway position at which the vehicle-to-vehiclecommunication with the communication vehicle 1-1 and the communicationvehicle 1-2 through ad hoc communication is not available.

Between the communication vehicles that are spaced away from each otherby not less than the distance in which ad hoc communication is available(in FIG. 3, the radius of the circle denoted with the broken line), alink of control can be obtained by control-system information beingtransferred via cellular communication. Note that the control-systeminformation is stored in a server apparatus (for example, a cloud serverapparatus) via a wireless base station. The server apparatus transferscontrol-system information to the convoy vehicles.

A convoy vehicle stores, for example, the position, course(destination), and identification number (license plate number) of itsown vehicle in a server apparatus. The server apparatus transfers theposition, course (destination), and identification numbers of the groupof convoy vehicles to the independent vehicle. The driver of theindependent vehicle is allowed to learn, via the convoy travel controlapparatus 100 mounted in the vehicle, where the group of convoy vehiclesis and in what state it is travelling. Namely, the driver of theindependent vehicle is allowed to search for, for example, the position,course (destination), and identification numbers of the group of convoyvehicles that has been reserved as a target of incorporation, by use ofthe convoy travel control apparatus 100. Note that the driver of theindependent vehicle may select whether he or she wants his or her ownvehicle to be the leading vehicle of the group of convoy vehicles ornot, and may store the selection result in the server apparatus via theconvoy travel control apparatus 100.

Returning to FIG. 2, the description of the exemplary configuration ofthe convoy travel control apparatus 100 will be continued. The travelcontrol portion 71 utilizes the control by the inter-vehicular distancecontrol portion 50 and the control by the lane keeping control portion60 to control the convoy travel of its own vehicle. The travel controlportion 71 orders the lane keeping control portion 60 to follow thetrail of the preceding vehicle.

Based on the information indicative of the coordinates of the rear endof the preceding vehicle that is travelling directly in front of its ownvehicle, the travel control portion 71 virtually plots the coordinatepoints representative of the trail of the preceding vehicle, and thenoutputs the plotted coordinate points to the lane keeping controlportion 60. Instead of generating a path based on the position of thelane division line, the lane keeping control portion 60 generates a pathbased on the coordinate points that have been input from the travelcontrol portion 71, and then controls the steering apparatus so that itsown vehicle travels along the path.

FIG. 4 is a diagram showing an exemplary method in which a followervehicle follows a preceding vehicle as a convoy vehicle. As shown on theleft side of FIG. 4, the positioning portion 10 of the communicationvehicle 1-1 as a preceding vehicle repeatedly measures the position ofits own vehicle at predetermined intervals. The position informationsharing portion 74 a of the communication vehicle 1-1 transmits pluralpieces of coordinate information representative of the trail of its ownvehicle, which has been positioned by the positioning portion 10, to thefollower vehicle (following vehicle) 1-2.

As shown at the center of FIG. 4, based on the information indicative ofthe coordinates of the rear end of the communication vehicle 1-1, thelane keeping control portion 60 of the communication vehicle 1-2virtually plots the coordinate points representative of the trail of thecommunication vehicle 1-1. Here, the coordinate system in which thecoordinate points are virtually plotted is an XY coordinate system wherethe position of the communication vehicle 1-2 is the origin and wherethe direction of travel of the communication vehicle 1-2 is the positivedirection of the Y axis.

As shown on the right side of FIG. 4, the lane keeping control portion60 of the communication vehicle 1-2 virtually links thevirtually-plotted coordinate points by use of an approximate line. Thelane keeping control portion 60 traces the virtually-obtainedapproximate line so that the approximate line and the trail of its ownvehicle (so that an error ΔX is small) overlap each other, and exercisessteering control on its own vehicle. As a result, the communicationvehicle 1-2 is allowed to change lanes in the same trail as that of thecommunication vehicle 1-1.

If the formation of convoy is completed, then the travel control portion71 orders the inter-vehicular distance control portion 50 to perform aninter-vehicular distance control with a set distance shorter than thatof the case where the formation of convoy is not completed, namely,where the inter-vehicular distance control portion 50 utilizes theoutput from the sensor portion 40 to perform an inter-vehicular distancecontrol by itself. For example, in the case where its own vehicle istravelling in convoy, the travel control portion 71 causes its ownvehicle to follow a convoy vehicle (preceding vehicle) at a speed of 75km/h and at an inter-vehicular distance of 17 m. These speed andinter-vehicular distance are exemplary.

FIG. 5 is a flow chart showing an exemplary operational procedure inwhich a preceding vehicle as a convoy vehicle transmits the coordinatesrepresentative of the trail of its own vehicle to a follower vehicle.

(Step Sf1)

The positioning portion 10 repeatedly measures the position of its ownvehicle at predetermined intervals. As a result, when its own vehicletravels, the positioning portion 10 measures plural sets of coordinatesrepresentative of the trail of its own vehicle as a preceding vehicle.

(Step Sf2)

The position information sharing portion 74 a transmits plural pieces ofcoordinate information representative of the trail of its own vehicle tothe follower vehicle (following vehicle) through vehicle-to-vehiclecommunication. The position information sharing portion 74 a maywirelessly transmit, over broadcasting, the plural pieces of coordinateinformation representative of the trail of its own vehicle.

FIG. 6 a flow chart showing an exemplary operational procedure ofsteering a follower vehicle.

(Step Sg1)

The position information sharing portion 74 a receives the plural piecesof coordinate information representative of the trail of the precedingvehicle as a convoy vehicle travelling directly ahead, and stores it inthe storage portion 95. The lane keeping control portion 60 virtuallyplots the coordinate points representative of the trail of the precedingvehicle (see FIG. 4).

(Step Sg2)

The lane keeping control portion 60 virtually links the plottedcoordinate points by use of an approximate line.

(Step Sg3)

The lane keeping control portion 60 exercises steering control on itsown vehicle so that the virtually-linked approximate line and the trailof its own vehicle overlap each other (so that an error ΔX is small).

Next is a description of a method of incorporating an independentvehicle into a group of convoy vehicles.

From an independent vehicle via the communication portion 30, thejoining control portion 72 receives request information to incorporatethe independent vehicle into the group of convoy vehicles that istravelling in convoy with its own vehicle incorporated therein. Ifreceiving the request information to incorporate the independent vehicleinto the group of convoy vehicles, then based on an operation inputsignal that has been output from the operation input portion 90, thejoining control portion 72 determines whether to control the travel ofthe group of convoy vehicles or not. The operation input signal is anoperation input signal indicative of whether the user has approved,through the operation on the operation input portion 90, the requestinformation to incorporate the independent vehicle or not.

If determining that it will control the travel of the group of convoyvehicles, then the joining control portion 72 controls the travel of thegroup of convoy vehicles according to the positional relationshipbetween the position of the group of convoy vehicles and the position ofthe independent vehicle. For example, based on the position anddirection of travel of the group of convoy vehicles and on the positionof the independent vehicle, the joining control portion 72 determines inwhich of front, rear, and side of the group of convoy vehicles theindependent vehicle is positioned.

Here, the joining control portion 72 obtains coordinate information,which indicates a record of the position of the group of convoyvehicles, from the storage portion 95 at predetermined intervals. Basedon the coordinate information indicative of the record of the positionof the group of convoy vehicles, the joining control portion 72calculates a trail and a direction of travel (for example, velocityvector) of the group of convoy vehicles. Furthermore, the joiningcontrol portion 72 obtains coordinate information, which indicates arecord of the position of the independent vehicle, from the storageportion 95 at predetermined intervals. Based on the coordinateinformation indicative of the record of the position of the independentvehicle, the joining control portion 72 calculates a trail and adirection of travel of the independent vehicle.

Note that the joining control portion 72 may order the lane keepingcontrol portion 60 to match the lane in which the group of convoyvehicles is travelling with the lane in which the independent vehicle istravelling according to the positional relationship between the positionof the group of convoy vehicles and the position of the independentvehicle. Conversely to this, the independent vehicle may be controlledso as to be moved to the lane in which the group of convoy vehicles istravelling.

<Case Where Independent Vehicle is Travelling Behind Group of ConvoyVehicles>

If an independent vehicle, which is not its own vehicle, is travellingbehind a group of convoy vehicles, then the joining control portion 72orders the inter-vehicular distance control portion 50 to decelerate itsown vehicle incorporated in the group of convoy vehicles. Here, thejoining control portion 72 requests the group of convoy vehicles tochange speed, to thereby decelerate the whole of the group of convoyvehicles. Note that a lower limit is set to the speed.

If the independent vehicle is travelling behind the group of convoyvehicles, then the joining control portion 72 may generate requestinformation to change speed to accelerate the independent vehicle. Ifthe independent vehicle is travelling behind the group of convoyvehicles, then the joining control portion 72 may decelerate the wholeof the group of convoy vehicles and may also generate requestinformation to change speed to accelerate the independent vehicle.

FIG. 7 is a diagram showing a method in which an independent vehiclemerges with a group of convoy vehicles from behind the group of convoyvehicles.

In FIG. 7, a communication vehicle 1-1 and a communication vehicle 1-2are convoy vehicles. On the other hand, a communication vehicle 1-3 isan independent vehicle. The joining control portion 72 determines apositional relationship between a position of the group of convoyvehicles and a position of the independent vehicle based on theoutput(s) from at least one of the positioning portion 10 and the sensorportion 40.

For example, if the independent vehicle is positioned on the sideopposite to the direction of travel of the group of convoy vehicles withrespect to the group of convoy vehicles, then the joining controlportion 72 determines that the independent vehicle will merge with thegroup of convoy vehicles from behind the group of convoy vehicles.

It is supposed that the joining control portion 72 of each of thecommunication vehicle 1-1 and the communication vehicle 1-2 has receivedrequest information to incorporate the independent vehicle into thegroup of convoy vehicles. The presentation portion 80 of each of thecommunication vehicle 1-1 and the communication vehicle 1-2 presents, tothe driver of its own vehicle, a message of having received requestinformation to incorporate the independent vehicle into the group ofconvoy vehicles. The operation input portion 90 of each of thecommunication vehicle 1-1 and the communication vehicle 1-2 accepts anoperation input signal for selecting whether to approve the requestinformation to incorporate the independent vehicle or not.

If to approve the request information to incorporate the independentvehicle has been selected, the joining control portion 72 of each of thecommunication vehicle 1-1 and the communication vehicle 1-2 orders theinter-vehicular distance control portion 50 to decelerate the group ofconvoy vehicles (see the right side of FIG. 7). Namely, thecommunication vehicle 1-1 and the communication vehicle 1-2 decelerateby themselves to allow the communication vehicle 1-3 (independentvehicle) to merge. Until the convoy is formed, the lane keeping controlportion 60 of each of the communication vehicle 1-1 and thecommunication vehicle 1-2 keeps the lane. Furthermore, the presentationportion 80 displays an image indicating that the convoy is being formedor an image indicating that the convoy has been formed.

The joining control portion 72 determines whether an inter-vehiculardistance and a difference in speed between the convoy vehicles, whichhave been incorporated in the group of convoy vehicles, are withinpredetermined ranges or not. As a result, it is possible for the joiningcontrol portion 72 to determine whether the convoy vehicles aretravelling in convoy or not. Note that if an operation input signalrequesting to terminate the travel in convoy has been input from theoperation input portion 90, the joining control portion 72 terminatesthe convoy travel control for its own vehicle.

On the other hand, if its own vehicle as an independent vehicle ispositioned behind the group of convoy vehicles, then the joining controlportion 72 transmits, to the convoy vehicles incorporated in the groupof convoy vehicles, a request information to incorporate its own vehicleinto the group of convoy vehicles. The joining control portion 72determines whether the request to incorporate its own vehicle as anindependent vehicle into the group of convoy vehicles has been accepted(approved) by the group of convoy vehicles or not. The joining controlportion 72 determines whether an inter-vehicular distance and adifference in speed between the tail end vehicle of the group of convoyvehicles and its own vehicle are within the predetermined ranges or not.Here, based on the inter-vehicular distance measured by the sensorportion 40, the joining control portion 72 calculates the position ofthe preceding vehicle.

<Case Where Independent Vehicle is Travelling in Front of Group ofConvoy Vehicles>

If an independent vehicle as a vehicle other than its own vehicle istravelling in front of the group of convoy vehicles, then the joiningcontrol portion 72 orders the inter-vehicular distance control portion50 to accelerate its own vehicle incorporated in the group of convoyvehicles. Here, the joining control portion 72 requests the group ofconvoy vehicles to change speed, to thereby accelerate the whole of thegroup of convoy vehicles. Note that an upper limit is set to the speed.

If an independent vehicle is travelling in front of the group of convoyvehicles, then the joining control portion 72 may generate requestinformation to change speed to decelerate the independent vehicle. If anindependent vehicle is travelling in front of the group of convoyvehicles, then the joining control portion 72 may generate requestinformation to change speed to accelerate the whole of the group ofconvoy vehicles and also to decelerate the independent vehicle.

FIG. 8 is a diagram showing a method in which an independent vehiclemerges with a group of convoy vehicles from front of the group of convoyvehicles. In FIG. 8, a communication vehicle 1-1 and a communicationvehicle 1-2 are convoy vehicles. On the other hand, a communicationvehicle 1-3 is an independent vehicle. The joining control portion 72determines a positional relationship between a position of the group ofconvoy vehicles and a position of the independent vehicle based on theoutput(s) from at least one of the positioning portion 10 and the sensorportion 40. For example, if the independent vehicle is positioned in thedirection of travel of the group of convoy vehicles with respect to thegroup of convoy vehicles, then the joining control portion 72 determinesthat the independent vehicle will merge with the group of convoyvehicles from front of the group of convoy vehicles.

It is supposed that the joining control portion 72 of each of thecommunication vehicle 1-1 and the communication vehicle 1-2 has receivedrequest information to incorporate an independent vehicle into a groupof convoy vehicles. The presentation portion 80 of each of thecommunication vehicle 1-1 and the communication vehicle 1-2 presents, tothe driver of its own vehicle, the fact that request information toincorporate the independent vehicle into the group of convoy vehicleshas been received. The operation input portion 90 of each of thecommunication vehicle 1-1 and the communication vehicle 1-2 accepts anoperation input signal for selecting whether to approve the requestinformation to incorporate the independent vehicle or not.

If to approve the request information to incorporate the independentvehicle has been selected, then the joining control portion 72 of eachof the communication vehicle 1-1 and the communication vehicle 1-2orders the inter-vehicular distance control portion 50 to accelerate thegroup of convoy vehicles (see the right side of FIG. 8). Namely, thecommunication vehicle 1-1 and the communication vehicle 1-2 accelerateby themselves to allow the communication vehicle 1-3 (independentvehicle) to merge. Until the convoy is formed, the lane keeping controlportion 60 of each of the communication vehicle 1-1 and thecommunication vehicle 1-2 keep the lane. The presentation portion 80displays an image indicating that the convoy is being formed or an imageindicating that the convoy has been formed.

Subsequently, an operational procedure of incorporating an independentvehicle into a group of convoy vehicles will be described.

FIG. 9 is a flow chart showing an operational procedure of merging anindependent vehicle into a group of convoy vehicles from behind thegroup of convoy vehicles. Step S1 to Step S6 form an operationalprocedure performed by the convoy travel control apparatus 100 mountedin the independent vehicle.

(Step S1)

The joining control portion 72 transmits a signal, which indicatesrequest information to incorporate an independent vehicle (own vehicle)into a group of convoy vehicles, to convoy vehicles (leading vehicle,follower vehicle(s)) incorporated in the group of convoy vehicles.

(Step S2)

Based on whether or not the communication portion 30 has received asignal that has been transmitted in Step Sa3 (described later) and thatis indicative of accepting the request information to incorporate theindependent vehicle (own vehicle) into the group of convoy vehicles, thejoining control portion 72 determines whether the request to incorporateits own vehicle into the group of convoy vehicles has been accepted bythe group of convoy vehicles or not (approved or not). Whether therequest to incorporate its own vehicle into the group of convoy vehicleshas been accepted by the group of convoy vehicles or not is determinedby whether the driver and/or passenger(s) of a convoy vehicle hasperformed an operation of approval or not, or has performed an operationof non-approval (or has not performed an operation of approval) or noton the operation input portion 90 provided in the convoy vehicle.

If the request to incorporate its own vehicle into the group of convoyvehicles has been accepted (Step S2: YES), then the joining controlportion 72 moves the process to Step S3. On the other hand, if therequest to incorporate its own vehicle into the group of convoy vehicleshas not been accepted (Step S2: NO), then the joining control portion 72moves the process to Step S6.

(Step S3)

The joining control portion 72 determines whether an inter-vehiculardistance and a difference in speed between the tail end vehicle in thegroup of convoy vehicles and its own vehicle as the independent vehicleare within predetermined ranges or not. If the inter-vehicular distanceand the difference in speed are within the predetermined ranges (StepS3: YES), the joining control portion 72 moves the process to Step S4.On the other hand, if the inter-vehicular distance or the difference inspeed is not within the predetermined range (Step S3: NO), the joiningcontrol portion 72 moves the process to Step S6. Note that the joiningcontrol portion 72 may determine whether an inter-vehicular distance anda difference in speed between the leading vehicle in the group of convoyvehicles and its own vehicle as the independent vehicle are withinpredetermined ranges or not.

(Step S4)

Based on the control by the inter-vehicular distance control portion 50and on the control by the lane keeping control portion 60, the joiningcontrol portion 72 merges its own vehicle as the independent vehiclewith the group of convoy vehicles, to thereby complete the formation ofconvoy. Here, the steering for merging its own vehicle as theindependent vehicle with the group of convoy vehicles is performed bythe driver. The joining control portion 72 moves the process to Step S5.

(Step S5)

Based on the control by the inter-vehicular distance control portion 50and on the control by the lane keeping control portion 60, the travelcontrol portion 71 continues the convoy travel of its own vehicle. Thejoining control portion 72 terminates the convoy formation processing.

(Step S6)

The joining control portion 72 causes its own vehicle to move inpredetermined normal travel instead of causing its ownvehicle to travelin convoy.

On the other hand, Step Sa1 to Step Sa6 form an operational procedurethat is executed by the convoy travel control apparatus 100 mounted in aconvoy vehicle.

(Step Sa1)

The joining control portion 72 receives, from the independent vehicle,the signal that has been transmitted in Step S1 as described above andthat is indicative of the request information to incorporate theindependent vehicle into the group of convoy vehicles.

(Step Sa2)

Based on a predetermined condition, the joining control portion 72determines whether to accept the request information to incorporate theindependent vehicle into the group of convoy vehicles or not (whether toapprove the request or not). If accepting the request information toincorporate the independent vehicle into the group of convoy vehicles(Step Sa2: YES), the joining control portion 72 moves the process toStep Sa3. On the other hand, if not accepting the request information toincorporate the independent vehicle into the group of convoy vehicles(Step Sa2: NO), the joining control portion 72 moves the process to StepSa6.

(Step Sa3)

The joining control portion 72 transmits a signal, which is indicativeof accepting the request information to incorporate the independentvehicle into the group of convoy vehicles, to the independent vehicle.

(Step Sa4)

The convoy travel control apparatus 100 executes an operationalprocedure in convoy formation mode. The operational procedure in convoyformation mode will be described later with reference to FIG. 10. Theconvoy travel control apparatus 100 moves the process to Step Sa5.

(Step Sa5)

Based on the control by the inter-vehicular distance control portion 50and on the control by the lane keeping control portion 60, the travelcontrol portion 71 causes its own vehicle to travel in convoy. Thetravel control portion 71 moves the process to Step Sa6.

(Step Sa6)

The travel control portion 71 continues the convoy travel of its ownvehicle.

FIG. 10 is a flow chart showing an operational procedure in convoyformation mode for merging an independent vehicle with a group of convoyvehicles from front or behind the group of convoy vehicles. Step Sb1 toStep Sb6 form an operational procedure executed by the convoy travelcontrol apparatus 100 mounted in a convoy vehicle.

(Step Sb1)

The joining control portion 72 determines a positional relationshipbetween a position of the group of convoy vehicles and a position of theindependent vehicle. To be more specific, the joining control portion 72determines whether the independent vehicle is travelling behind thegroup of convoy vehicles or not. If the independent vehicle istravelling behind the group of convoy vehicles (Step Sb1: YES), then thejoining control portion 72 moves the process to Step Sb2. On the otherhand, if the independent vehicle is not travelling behind the group ofconvoy vehicles (Step Sb1: NO), then the joining control portion 72moves the process to Step Sb3. Note that, instead of moving the processto Step Sb3, the joining control portion 72 may move the process to StepSb4.

(Step Sb2)

The joining control portion 72 decelerates the group of convoy vehicles.The joining control portion 72 moves the process to Step Sb6.

(Step Sb3)

The joining control portion 72 determines whether the independentvehicle is travelling in front of the group of convoy vehicles or not.If the independent vehicle is travelling in front of the group of convoyvehicles (Step Sb3: YES), then the joining control portion 72 moves theprocess to Step Sb4. On the other hand, if the independent vehicle isnot travelling in front of the group of convoy vehicles (Step Sb3: NO),then the joining control portion 72 moves the process to Step Sb5.

(Step Sb4)

The joining control portion 72 accelerates the group of convoy vehicles.The joining control portion 72 moves the process to Step Sb6.

(Step Sb5)

The joining control portion 72 transmits a signal, which indicates notaccepting the request information to incorporate the independent vehicleinto the group of convoy vehicles (formation of convoy not allowed), tothe independent vehicle. Note that the joining control portion 72 ordersthe lane keeping control portion 60 to match the lane in which the groupof convoy vehicles is travelling with the lane in which the independentvehicle is travelling.

(Step Sb6)

The joining control portion 72 determines whether an inter-vehiculardistance and a difference in speed between the tail end vehicle of thegroup of convoy vehicles and the independent vehicle are withinpredetermined ranges or not. If the inter-vehicular distance and thedifference in speed between the tail end vehicle of the group of convoyvehicles and the independent vehicle are within the predetermined ranges(Step Sb6: YES), then the joining control portion 72 determines that aformation of convoy has been completed, and terminates the processing inconvoy formation mode. On the other hand, if the inter-vehiculardistance or the difference in speed between the tail end vehicle of thegroup of convoy vehicles and the independent vehicle is not within thepredetermined range, then (Step Sb6: NO), then the joining controlportion 72 returns the process to Step Sb1. Note that the joiningcontrol portion 72 may determine whether an inter-vehicular distance anda difference in speed between the leading vehicle of the group of convoyvehicles and the independent vehicle are within predetermined ranges ornot.

<Recognition of Whether Vehicle is in Convoy or Not>

If the identification number (license plate number) allocated to theimaged preceding vehicle matches with the identification numberallocated to a convoy vehicle, then the joining control portion 72determines that the imaged preceding vehicle is a convoy vehicleincluded in the group of convoy vehicles.

FIG. 11 is a diagram showing a situation in which an independent vehicledetermines that the preceding vehicle directly ahead is anon-communication vehicle. In FIG. 11, it is supposed that, between acommunication vehicle 1-1 (for example, a convoy vehicle) and acommunication vehicle 1-2 (for example, an independent vehicle), anon-communication vehicle 2 is travelling. The position informationsharing portion 74 a of the communication vehicle 1-2 receivesinformation indicative of a position of the communication vehicle 1-1through vehicle-to-vehicle communication. In FIG. 11, it is supposedthat the information indicative of the position of the communicationvehicle 1-1 indicates a positional range 11 at a rear end of thecommunication vehicle 1-1.

The sensor portion 40 irradiates a beam 41 in a forward direction of itsown vehicle, to thereby measure an inter-vehicular distance to thepreceding vehicle directly ahead. Based on the inter-vehicular distancemeasured by the sensor portion 40 and on the position of its ownvehicle, the joining control portion 72 calculates a position of thepreceding vehicle (non-communication vehicle 2) directly ahead. Becausethe calculated position of the preceding vehicle is not included in thepositional range 11, the joining control portion 72 determines that thepreceding vehicle is a non-communication vehicle. Note that if thepreceding vehicle is a non-communication vehicle, the travel controlportion 71 orders the inter-vehicular distance control portion 50 tocontrol the inter-vehicular distance with the set distance longer thanthat of the case where the preceding vehicle is a communication vehicle.

FIG. 12 is a diagram showing a situation in which an independent vehicledetermines that a preceding vehicle directly ahead is a communicationvehicle. In FIG. 12, it is supposed that, between a non-communicationvehicle 2 and a communication vehicle 1-2 (for example, independentvehicle), a communication vehicle 1-1 (for example, a convoy vehicle) istravelling. The position information sharing portion 74 a of thecommunication vehicle 1-2 receives information indicative of a positionof the communication vehicle 1-1 through vehicle-to-vehiclecommunication. In FIG. 12, it is supposed that the informationindicative of the position of the communication vehicle 1-1 indicates apositional range 11 at a rear end of the communication vehicle 1-1.

<Determination Based on Inter-Vehicular Distance>

The sensor portion 40 irradiates a beam 41 in a forward direction of itsown vehicle, to thereby measure an inter-vehicular distance to thepreceding vehicle directly ahead. Based on the inter-vehicular distancemeasured by the sensor portion 40 and on a position of its own vehicle,the joining control portion 72 calculates a position of the precedingvehicle (communication vehicle 1-1) directly ahead. If the calculatedposition of the preceding vehicle is included in the positional range11, then the joining control portion 72 determines that the precedingvehicle is a communication vehicle.

<Determination Based on Taken Image>

The image recognition portion 71 a recognizes a state around its ownvehicle through image processing. For example, the image recognitionportion 71 a recognizes, through image processing, an identificationnumber (license plate number) allocated to the preceding vehicle whoseimage has been taken by the forward imaging portion 21.

The identification information sharing portion 74 b of the communicationvehicle 1-1 transmits the identification number (license plate number)allocated to its own vehicle to the identification information sharingportion 74 b of the communication vehicle 1-2. The image recognitionportion 71 a recognizes, through image processing, the identificationnumber (license plate number) allocated to the communication vehicle 1-1whose image has been taken by the forward imaging portion 21. If theidentification number allocated to the imaged preceding vehicle matcheswith the identification number allocated to a convoy vehicle, then thejoining control portion 72 determines that the imaged preceding vehicleis a convoy vehicle included in the group of convoy vehicles.

Furthermore, the inter-vehicular distance control portion 50 of thecommunication vehicle 1-1 as a preceding vehicle decelerates its ownvehicle to approach the communication vehicle 1-2 as a following vehicleuntil the inter-vehicular distance is short enough to allow the forwardimaging portion 21 of the communication vehicle 1-2 to take an image ofthe communication vehicle 1-1. As a result, the forward imaging portion21 of the communication vehicle 1-2 as a following vehicle is in a stateof being capable of taking an image of a light source portion (a brakelight, a tail lamp, or the like) that is provided on the rear end of thecommunication vehicle 1-1 as a preceding vehicle.

In this condition, the identification information sharing portion 74 bof the communication vehicle 1-1 transmits lighting timing informationof the light source portion provided on the rear end of its own vehicleto the communication vehicle 1-2. The travel control portion 71 of thecommunication vehicle 1-2 determines whether or not the timing indicatedby the received lighting timing information matches with the timing atwhich the light source portion imaged by the forward imaging portion 21lights up. If the timing indicated by the lighting timing informationmatches with the timing at which the light source portion imaged by theforward imaging portion 21 lights up, then the travel control portion 71of the communication vehicle 1-2 determines that the imaged precedingvehicle is a communication vehicle.

FIG. 13 is a flow chart showing an exemplary operational procedure inwhich an independent vehicle determines whether a preceding vehicledirectly ahead is a communication vehicle or not.

(Step Sc1)

The sensor portion 40 measures an inter-vehicular distance between thepreceding vehicle directly ahead and its own vehicle. The travel controlportion 71 moves the process to Step Sc2.

(Step Sc2)

Based on the inter-vehicular distance measured by the sensor portion 40,the travel control portion 71 calculates the coordinates of the rear endof the preceding vehicle directly ahead, and moves the process to StepSc4.

(Step Sc3)

The position information sharing portion 74 a receives informationindicative of the coordinates of the rear end of the preceding vehicledirectly ahead, and moves the process to Step Sc4.

(Step Sc4)

The travel control portion 71 calculates a distance between thecoordinates of the rear end of the preceding vehicle directly ahead,which are based on the inter-vehicular distance measured by the sensorportion 40, and the coordinates of the rear end of the preceding vehicledirectly ahead, which have been received by the position informationsharing portion 74 a. The travel control portion 71 moves the process toStep Sc5.

(Step Sc5)

The travel control portion 71 determines whether the distance betweenthe coordinates of the rear end of the preceding vehicle directly ahead,which are based on the inter-vehicular distance measured by the sensorportion 40, and the coordinates of the rear end of the preceding vehicledirectly ahead, which have been received by the position informationsharing portion 74 a, is within a predetermined range or not. If thedistance between both sets of coordinates is within the predeterminedrange (Step Sc5: YES), then the travel control portion 71 moves theprogress to Step Sc6. On the other hand, if the distance between bothsets of coordinates is not within the predetermined range (Step Sc5:NO), then the travel control portion 71 moves the process to Step Sc7.

(Step Sc6)

The travel control portion 71 determines that the preceding vehicledirectly ahead is a communication vehicle, and terminates theoperational procedure.

(Step Sc7)

The travel control portion 71 determines that the preceding vehicledirectly ahead is not a communication vehicle, namely, that thepreceding vehicle directly ahead is a non-communication vehicle, andterminates the operational procedure.

Next, a communication tool between convoy vehicles will be described.

The communication control portion 73 receives image information andvoice, in which the interior of a convoy vehicle incorporated in a groupof convoy vehicles is taken, from the convoy vehicle. The communicationcontrol portion 73 transmits the image information and voiceinformation, in which the interior of its own vehicle is taken, to theconvoy vehicle. The image communication conducted by the communicationcontrol portion 73 is, for example, communication based on the Wi-Fistandard. Furthermore, the communication control portion 73 may receiveand transmit image information indicative of a message. Note that thecommunication carried out by the communication control portion 73 is notlimited to the Wi-Fi standard, but may be based on any communicationstandard.

FIG. 14 is a diagram showing a first example of human interface image.Hereinafter, the description will be continued on the supposition thatthe presentation portion 80 is, by way of example, a display apparatuswith the operation input portion 90. The presentation portion 80displays a human interface image as a communication tool among thedrivers and passengers on the communication vehicles.

Based on a predetermined condition, the communication control portion 73determines whether each in the group of convoy vehicles is capable oftravelling safely or not. If, for example, a condition is satisfied thatno other vehicles are present around the group of convoy vehicles andalso that the road shape ahead of the group of convoy vehicles isstraight, then the communication control portion 73 determines that thegroup of convoy vehicles is capable of travelling safely. Note that thispredetermined condition is exemplary.

If its own vehicle is incorporated in the group of convoy vehicles as afollower vehicle, then the travel control portion 71 causes its ownvehicle to travel in convoy even though the driver does not drive theown vehicle. Therefore, the presentation portion 80 allows the driver ofits own vehicle to perform operations other than driving. Note that thehuman interface image is displayed on the presentation portion 80irrespective of whether its own vehicle is incorporated in the group ofconvoy vehicles or not.

In the human interface image as a communication tool, there areestablished: a main image display area 81; an operation key display area82; a message display area 83; a travel information display area 84; andan information display area 85.

In the main image display area 81, an image in which the position of thegroup of convoy vehicles is shown on a map is displayed, by way ofexample.

In the operation key display area 82, there are depressably displayed: afirst operation key 820; a second operation key 821; a third operationkey 822; a fourth operation key 823; a fifth operation key 824; and asixth operation key 825.

In the first operation key 820, there is displayed “Hello (graphicdiagram)” as a string of characters and the like indicative of amessage. In the second operation key 821, there is displayed “Thank you(graphic diagram)” as a string of characters and the like indicative ofa message

In the third operation key 822, there is displayed “MOVIE” as a stringof characters indicative of an operation input that causes thecommunication control portion 73 to receive and transmit imageinformation. In the fourth operation key 823, there is displayed “OK(graphic diagram)” as a string of characters and the like indicative ofa message. The fourth operation key 823 is operated by the driver when,for example, approving request information to incorporate an independentvehicle into a group of convoy vehicles.

In the fifth operation key 824, there is displayed “Join me in convoy”as a string of characters indicative of request information toincorporate its own vehicle into a group of convoy vehicles. If thefifth operation key 824 is operated, then the joining control portion 72transmits the request information to incorporate its own vehicle into agroup of convoy vehicles, to the group of convoy vehicles. In the sixthoperation key 825, there is displayed “Terminate convoy” a string ofcharacters indicative of an operation input for terminating the travelin convoy (for becoming an independent vehicle). Note that if its ownvehicle is not travelling in convoy, the sixth operation key 825 may notbe displayed.

In the message display area 83, there are displayed: string(s) ofcharacters and the like indicative of message(s) that have beentransmitted from other communication vehicle(s) and received by thecommunication control portion 73; identification number(s) (licenseplate number(s)) received by the identification information sharingportion 74 b; the name(s) of the driver(s); and so on. For example, astring of characters and the like “Hello (graphical diagram)” displayedin the message display area 83 is a message that has been operationallyinput via a first operation key 820 in another communication vehicle.

In the travel information display area 84, there are displayed speeds ofand inter-vehicular distances between the communication vehicles 1, byway of example of travel information.

In the information display area 85, there is displayed state informationthat has been transmitted from another communication vehicle andreceived by the state information sharing portion 74 c. With referenceto the state information, the driver is capable of learning the state infront of or behind the group of convoy vehicles. For example, in themessage display area 83, there is displayed a string of characters andthe like “Touch here!” together with a graphic diagram. With adepressing operation on the message display area 83, the driver causeswhat is indicated by the state information to be displayed. As a result,the driver is capable of learning that there is an obstacle ahead.

FIG. 15 is a diagram showing an example of how to display videos of theinteriors of convoy vehicles. In FIG. 15, in the main image display area81, there are established: a forward video display area 810; a firstinterior video display area 811; a second interior video display area812; and a third interior video display area 813.

In the forward video display area 810, a realtime motion picture imagein which a forward view from the leading vehicle is imaged is displayedbased on the image information that has been transmitted from theleading vehicle incorporated in the same group of convoy vehicles asthat of its own vehicle. With the third operation key 822 being operatedin the leading vehicle and the own vehicle, the realtime motion pictureimage in which the forward view from the leading vehicle is imaged isdisplayed in the forward video display area 810.

In the first interior video display area 811, a realtime motion pictureimage in which the interior of the leading vehicle is imaged isdisplayed based on the image information that has been transmitted fromthe leading vehicle incorporated in the same group of convoy vehicles asthat of its own vehicle. In the second interior video display area 812,a realtime motion picture image in which the interior of anotherfollower vehicle is imaged is displayed based on the image informationthat has been transmitted from the follower vehicle incorporated in thesame group of convoy vehicles as that of its own vehicle. In the thirdinterior video display area 813, a realtime motion picture image inwhich the interior of its own vehicle is displayed based on the imageinformation that has been output from the in-vehicle imaging portion 22of its own vehicle. The image information that has been output from theforward imaging portion 21 of its own vehicle is wirelessly transmittedto other convoy vehicles over vehicle-to-vehicle communication via thecommunication control portion 73. Based on the voice information, thepresentation portion 80 outputs a voice in synchronization with themotion picture image. Note that, in the operation key display area 82,operation keys for transmitting various pieces of information to otherconvoy vehicles are displayed.

The inter-vehicular distance between the convoy vehicles incorporated ina group of convoy vehicles is set to be shorter than that of the casewhere the vehicles are not travelling in convoy. Therefore, it ispossible to share the image information and voice information in stable,high communication quality. The driver is informed of the events infront of the leading vehicle, which cannot be seen directly from his orher own vehicle, from the group of preceding vehicles including theleading vehicle, through vehicle-to-vehicle communication. This allowsthe driver to drive the vehicle in relief. Furthermore, the driver iscapable of having conversation with drivers of other convoy vehicles,and watching their faces. Therefore, it is possible to realize joy and afeeling of unity in the group of convoy vehicles.

Next, information sharing among convoy vehicles will be described.

The position information sharing portion 74 a receives positioninformation, via the communication portion 30, from each convoy vehicleincorporated in a group of convoy vehicles, to thereby receiveinformation indicative of a position of the group of convoy vehicles.For example, the position information sharing portion 74 a receivesinformation, which indicates the coordinates of the rear end of apreceding vehicle that is travelling directly in front of its ownvehicle, from the preceding vehicle. The position information sharingportion 74 a receives information indicative of a position of anindependent vehicle that is travelling independently of the group ofconvoy vehicles.

The position information sharing portion 74 a transmits plural pieces ofcoordinate information, which is indicative of a trail of its ownvehicle that has been positioned by the positioning portion 10, to thefollower vehicle (following vehicle) via the communication portion 30.Here, the position information sharing portion 74 a may wirelesslytransmit plural pieces of coordinate information, which is indicative ofa trail of its own vehicle that has been positioned by the positioningportion 10, over broadcasting.

The identification information sharing portion 74 b receives theidentification numbers (license plate numbers) allocated to the convoyvehicles incorporated in the group of convoy vehicles, via thecommunication portion 30. The identification information sharing portion74 b transmits the identification number allocated to its own vehicleincorporated in the group of convoy vehicles.

The state information sharing portion 74 c receives information (stateinformation), which indicates a state in front of or behind the group ofconvoy vehicles, via the communication portion 30. Furthermore, thestate information sharing portion 74 c transmits the informationindicative of the state in front of or behind the group of convoyvehicles. For example, the state information sharing portion 74 cgenerates state information indicative of the presence of an obstacleahead, and transmits the generated state information to the followervehicle (following vehicle).

Here, the state information sharing portion 74 c may wirelessly transmitstate information over broadcasting.

Note that the control-system communication conducted by the joiningcontrol portion 72 and the information sharing portion 74 is, forexample, communication based on the 802.11 standard. The control-systemcommunication is not limited to communication based on the 802.11standard, but may be communication based on any communication standard.

According to the information indicative of the state in front of orbehind the group of convoy vehicles, the travel control portion 71controls the travel of the group of convoy vehicles. If the informationindicative of the state in front of or behind the group of convoyvehicles is information indicative of a predetermined first event, thenthe travel control portion 71 orders the inter-vehicular distancecontrol portion 50 to make longer the inter-vehicular distance betweenthe convoy vehicles. The predetermined first event is, for example, thepresence of an obstacle.

If the information indicative of the state in front of or behind thegroup of convoy vehicles is information indicative of a predeterminedsecond event, then the travel control portion 71 orders the lane keepingcontrol portion 60 to change the position of its own vehicle withrespect to the lanes (for example, to give way to an emergency vehicle).The predetermined second event is, for example, an approach of anemergency vehicle or the like.

Note that if an emergency vehicle or the like approaches the group ofconvoy vehicles, then the travel control portion 71 may pull over theconvoy vehicles to a side of the road, pull over the convoy vehicles toa side of the road so that each of them is diagonal with respect to thedriving lane, or pull over the convoy vehicles to the sides of the roadso that the forward and rear convoy vehicles are arranged in a staggeredmanner, to thereby let the emergency vehicle pass whenever and whereverpossible.

FIG. 16 is a diagram showing a first example of positional relationshipamong the vehicles in the case where a leading vehicle notifies followervehicles of an event ahead. In FIG. 16, a communication vehicle 1-1 is aleading vehicle. It is supposed that, in front of the communicationvehicle 1-1, there is an event 200 (for example, a situation in which anobstacle is present on the road). A communication vehicle 1-2 to acommunication vehicle 1-5 are follower vehicles. Ranges in whichvehicle-to-vehicle communication through direct wireless communicationis available are each denoted with a broken line.

Here, the communication vehicle 1-5 is a tail end vehicle. Furthermore,it is supposed that the communication vehicle 1-1 (leading vehicle) andthe communication vehicle 1-5 (tail end vehicle) are communicationvehicles that are away from each other by more than a distance at whichdirect wireless communication is available. The driver of thecommunication vehicle 1-5 (tail end vehicle) is not capable of directlyseeing the event 200 in front of the communication vehicle 1-1.

The communication vehicle 1-5 receives state information, which has beentransferred from the communication vehicle 1-1 via the communicationvehicle 1-2 to the communication vehicle 1-4 (follower vehicles),through vehicle-to-vehicle communication. The presentation portion 80displays information indicative of the event 200 in the informationdisplay area 85 of its own vehicle. Furthermore, the communicationvehicle 1-5 receives image information, which has been transferred fromthe communication vehicle 1-1 to the communication vehicle 1-2 throughthe communication vehicle 1-4 (follower vehicles), throughvehicle-to-vehicle communication. The presentation portion 80 displays amotion picture image, in which the event 200 is imaged, in the forwardvideo display area 810 of its own vehicle. Similar operations apply alsoto the communication vehicle 1-2 to the communication vehicle 1-4(follower vehicles). The drivers of the communication vehicle 1-2 to thecommunication vehicle 1-5 (follower vehicles) are capable of learningthe information indicative of the event 200 in advance.

FIG. 17 is a diagram showing a second example of positional relationshipamong the vehicles in the case where a leading vehicle notifies followervehicle of an event ahead. In FIG. 17, it is supposed that there is anevent 200 ahead of the blind curve on which the group of convoy vehicles(the communication vehicle 1-1 to the communication vehicle 1-5) shownin FIG. 16 are travelling. The sides of the blind curve may have a wallcapable of shielding radio waves. Here, the driver of the communicationvehicle 1-5 (tail end vehicle) is not capable of directly seeing theevent 200 in front of the communication vehicle 1-1. In FIG. 17, rangesin which vehicle-to-vehicle communication through direct wirelesscommunication is available are each denoted with a broken line.

The communication vehicle 1-5 receives state information, which has beentransferred from the communication vehicle 1-1 sequentially to thecommunication vehicle 1-2 through the communication vehicle 1-4(follower vehicles), through vehicle-to-vehicle communication. Thepresentation portion 80 displays information indicative of the event 200in the information display area 85 of its own vehicle. Furthermore, thecommunication vehicle 1-5 receives image information, which has beentransferred from the communication vehicle 1-1 sequentially to thecommunication vehicle 1-2 through the communication vehicle 1-4(follower vehicles), through vehicle-to-vehicle communication. Thepresentation portion 80 displays a motion picture image, in which theevent 200 is imaged, in the forward video display area 810 of its ownvehicle. Similar operations apply also to the communication vehicle 1-2to the communication vehicle 1-4 (follower vehicles). The drivers of thecommunication vehicle 1-2 to the communication vehicle 1-5 (followervehicles) are capable of learning information indicative of the event200 in advance.

FIG. 18 is a diagram showing a third example of positional relationshipamong the vehicles in the case where a leading vehicle notifies followervehicles of an event ahead. If an inter-vehicular distance and adifference in speed between convoy vehicles are within predeterminedranges (the vehicles are travelling in convoy), then the inter-vehiculardistance control portion 50 makes the inter-vehicular distance shorterthan the case where the inter-vehicular distance or the difference inspeed between the convoy vehicles is not within the predetermined range(the vehicles are not travelling in convoy). In FIG. 18, theinter-vehicular distance between the convoy vehicles is shorter thanthat of the case shown in FIG. 17. The shorter the inter-vehiculardistance between the convoy vehicles is, the shorter the communicationdistance between the convoy vehicles is. In addition, because visibilitybetween the convoy vehicles is secured, data transfer rate throughwireless communication improves even at a blind curve.

FIG. 19 is a diagram showing an exemplary presentation by thepresentation portion 80 that notifies an event ahead. The presentationportion 80 displays information indicative of the event 200 togetherwith map information. In FIG. 19, as examples of information indicativeof the event 200, the presentation portion 80 displays slippageinformation, hazard alarm, merging caution information (merging lane,main lane), junction caution information (priority lane,stop-proceed-with-caution lane), and following travel information.

FIG. 20 is a flow chart showing an exemplary operational procedure of apreceding vehicle as a convoy vehicle.

(Step Sd1)

The travel control portion 71 determines whether or not the event 200ahead has been detected by the sensor portion 40 or the like. If theevent 200 ahead has been detected (Step Sd1: YES), then the travelcontrol portion 71 moves the process to Step Sd2. On the other hand, ifthe event 200 ahead has not been detected (Step Sd1: NO), then thetravel control portion 71 repeats Step Sd1.

(Step Sd2)

The travel control portion 71 determines whether the event 200 ahead isan obstacle or not. If the event 200 ahead is an obstacle (Step Sd2:YES), then the travel control portion 71 moves the process to Step Sd3.On the other hand, if the event 200 ahead is not an obstacle (Step Sd2:NO), then the travel control portion 71 terminates the processing.

(Step Sd3)

The state information sharing portion 74 c generates state informationindicating that there is an obstacle ahead, and transmits the generatedstate information to the follower vehicles (following vehicles). Here,the state information sharing portion 74 c wirelessly transmits thestate information over broadcasting. The travel control portion 71terminates the processing.

FIG. 21 is a flow chart showing an exemplary operational procedure of afollower vehicle.

(Step Se1)

The state information sharing portion 74 c receives state informationfrom all the preceding vehicle as convoy vehicles.

(Step Se2)

The travel control portion 71 determines whether or not all thepreceding vehicles as convoy vehicles have determined that there is anobstacle ahead. If all the preceding vehicles as convoy vehicles havedetermined that there is an obstacle ahead (Step Se2: YES), then thepresentation portion 80 moves the process to Step Se3. On the otherhand, if any preceding vehicle as a convoy vehicle has determined thatthere is not an obstacle ahead (Step Se2: NO), then the presentationportion 80 moves the process to Step Se6.

(Step Se3)

The presentation portion 80 displays the string of characters and thelike “Touch here!” For example, the presentation portion 80 displays thestring of characters and the like “Touch here!” together with agraphical diagram. The presentation portion 80 moves the process to StepSe4.

(Step Se4)

The travel control portion 71 determines whether the operation inputportion 90 has accepted an operation input within a predetermined periodof time or not. If the operation input portion 90 has accepted theoperation input within the predetermined period of time (Step Se4: YES),then the presentation portion 80 moves the process to Step Se5. On theother hand, if the operation input portion 90 has not accepted theoperation input within the predetermined period of time (Step Se4: NO),then the travel control portion 71 terminates the processing.

(Step Se5)

The presentation portion 80 displays the string of characters “Obstacleahead”. For example, the presentation portion 80 displays the string ofcharacters “Obstacle ahead” together with a graphical diagram (forexample, see FIG. 19). Furthermore, for example, the presentationportion 80 vocally outputs the string of characters “Obstacle ahead”.

(Step Se6)

The presentation portion 80 displays the string of characters “Noobstacle ahead”. For example, the presentation portion 80 displays thestring of characters “No obstacle ahead” together with a graphicaldiagram. Furthermore, for example, the presentation portion 80 vocallyoutputs the string of characters “No obstacle ahead”.

As described above, a convoy travel control apparatus 100 includes: acommunication portion 30 that communicates with another vehicle; atravel control portion 71 that actualizes a convoy travel with anothervehicle through communication via the communication portion 30; and ajoining control portion 72, wherein when an own vehicle is travelling inconvoy, if the communication portion 30 receives, from an independentvehicle which is not incorporated in a group of convoy vehiclestravelling in convoy, request information to incorporate the independentvehicle into the group of convoy vehicles, then the joining controlportion 72 determines a positional relationship between a position ofthe group of convoy vehicles and a position of the independent vehicle,and, according to the determined positional relationship, exercisescontrol, which is for incorporating the independent vehicle into thegroup of convoy vehicles, on the group of convoy vehicles via thecommunication portion 30.

With this structure, the joining control portion 72 determines thepositional relationship between the position of the group of convoyvehicles and the position of the independent vehicle. According to thedetermined positional relationship, the joining control portion 72exercises control for incorporating the independent vehicle into thegroup of convoy vehicles onto the group of convoy vehicles via thecommunication portion 30. As a result, the convoy travel controlapparatus 100 is capable of speedily merging the independent vehiclewith the group of convoy vehicles. For example, the convoy travelcontrol apparatus 100 is capable of speedily merging the independentvehicle with the group of convoy vehicles at its head or tail end.

The convoy travel control apparatus 100 allows the speed of the convoyvehicles, the inter-vehicular distance, and the control-systeminformation to be shared among the convoy vehicles. The convoy travelcontrol apparatus 100 is capable of minimizing the operations which arerequired for the driver at the formation and termination of convoy.

The convoy travel control apparatus 100 transmits, via the communicationportion, information that requires the joining control portion 72 todecelerate the group of convoy vehicles if the independent vehicle istravelling behind the group of convoy vehicles, and that requires thejoining control portion 72 to accelerate the group of convoy vehicles ifthe independent vehicle is travelling in front of the group of convoyvehicles.

The convoy travel control apparatus 100 includes: a sensor portion 40that measures an inter-vehicular distance between its own vehicle and apreceding vehicle; an inter-vehicular distance control portion 50 thatcontrols a travel drive portion of its own vehicle so that theinter-vehicular distance measured by the sensor portion 40 is a setdistance; and a lane keeping control portion 60 that controls a steeringportion of its own vehicle so that its own vehicle does not deviate froma driving lane, wherein the travel control portion 71 determines whetherthe inter-vehicular distance and the difference in speed between convoyvehicles incorporated in a group of convoy vehicles are withinpredetermined ranges (formation of convoy is completed) or not, andwherein, if the inter-vehicular distance and the difference in speedbetween the convoy vehicles are within the predetermined ranges, thenthe travel control portion 71 causes its own vehicle to travel in convoybased on control by the inter-vehicular distance control portion 50 andon control by the lane keeping control portion 60.

As a result, the convoy travel control apparatus 100 is capable ofreducing a load on the driver.

If the convoy travel control apparatus 100, if its own vehicle istravelling in convoy, then the travel control portion 71 orders theinter-vehicular distance control portion 50 to perform inter-vehiculardistance control with the set distance shorter than the case where itsown vehicle is not travelling in convoy.

As a result, the convoy travel control apparatus 100 is capable ofmaintaining the state in which communication is conducted at a shorterdistance. Therefore, it is possible to conduct vehicle-to-vehicle (V2V)communication in a stable state. Furthermore, the convoy travel controlapparatus 100 is capable of preventing another vehicle from cutting intothe group of convoy vehicles.

The convoy travel control apparatus 100 is a convoy travel controlapparatus wherein if an independent vehicle is travelling behind a groupof convoy vehicles, then the joining control portion 72 generatesinformation of speed change request that accelerates the independentvehicle, wherein if an independent vehicle is travelling in front of agroup of convoy vehicles, then the joining control portion 72 generatesinformation of speed change request that decelerates the independentvehicle, and wherein the joining control portion 72 transmits thegenerated information of speed change request to the independent vehiclevia the communication portion 30.

The convoy travel control apparatus 100 includes a sensor portion 40that measures an inter-vehicular distance between its own vehicle and apreceding vehicle, wherein the joining control portion 72 calculates aposition of the preceding vehicle based on the inter-vehicular distancemeasured by the sensor portion 40, and wherein if a distance between thecalculated position of the preceding vehicle and a position of a convoyvehicle incorporated into the group of convoy vehicles that has beenobtained through vehicle-to-vehicle communication is within apredetermined distance, then the joining control portion 72 determinesthat the preceding vehicle is a convoy vehicle.

The convoy travel control apparatus 100 includes: a forward imagingportion 21 that takes an image of a preceding vehicle; an imagerecognition portion 71 a that, based on an image taken by the forwardimaging portion 21, recognizes an identification number allocated to theimaged preceding vehicle; and an identification information sharingportion 74 b that receives an identification number allocated to aconvoy vehicle incorporated into the group of convoy vehicles, whereinif the identification number allocated to the imaged preceding vehiclematches with the identification number allocated to the convoy vehicle,then the joining control portion 72 determines that the imaged precedingvehicle is a convoy vehicle.

The convoy travel control apparatus 100 includes a state informationsharing portion 74 c that receives information indicative of a state infront of or behind the group of convoy vehicles, wherein according tothe information indicative of the state in front of or behind the groupof convoy vehicles, the travel control portion 71 controls travel of thegroup of convoy vehicles.

In convoy travel control apparatus 100, if the information indicative ofthe state in front of or behind the group of convoy vehicles isinformation indicative of a predetermined event, then the travel controlportion 71 orders the inter-vehicular distance control portion 50 tochange the inter-vehicular distance.

In convoy travel control apparatus 100, if the information indicative ofthe state in front of or behind the group of convoy vehicles isinformation indicative of a predetermined event, then the travel controlportion 71 orders the lane keeping control portion 60 to change apositon of its own vehicle with respect to a lane.

The convoy travel control apparatus 100 includes a communication controlportion 73, wherein if the communication portion 30 receives at leasteither of image information in which an interior of a convoy vehicleincorporated in the group of convoy vehicles is taken and voiceinformation collected from the interior of the convoy vehicle, thenaccording to the information indicative of the state in front of orbehind the group of convoy vehicles, the communication control portion73 controls the presentation portion 80 so as to present at least eitherof the image information and the voice information.

In the convoy travel control apparatus 100, the communication controlportion 73 transmits the voice information, which has been collectedfrom its own vehicle, via the communication portion 30 based on anoperation input.

As a result, the convoy travel control apparatus 100 is capable ofallowing the driver and/or passenger(s) in the communication vehicle andthe driver and/or passenger(s) in another communication vehicle tocommunicate with each other in the motion picture image and the voice.The convoy travel control apparatus 100 exercises inter-vehiculardistance control and lane keeping control. Therefore, the convoy travelcontrol apparatus 100 is capable of allowing the driver in acommunication vehicle and the driver in another communication vehicle tocommunicate with each other.

The convoy travel control apparatus 100 includes a storage portion 95that stores point information granted to a driver according toexperience of driving a convoy vehicle, wherein the presentation portion80 presents the point information.

The convoy travel control apparatus 100 is a convoy travel controlapparatus wherein the storage portion 95 stores point informationgranted to a driver according to experience that satisfies a presetcondition.

The convoy travel control apparatus 100 is a convoy travel controlapparatus wherein the position information sharing portion 74 a receivesinformation indicative of a trail of a preceding vehicle and wherein thetravel control portion 71 causes its own vehicle to follow the trail.

As a result, a follower vehicle (following vehicle) is capable ofchanging lanes in the same trail as that of the preceding vehicle.

Second Embodiment

A convoy travel control apparatus 100 of a second embodiment isdifferent from that of the first embodiment in that the latter has afunction for allowing an independent vehicle to merge with a group ofconvoy vehicles by cutting in between convoy vehicles incorporated inthe group of convoy vehicles (by having an independent vehicle cut inbetween convoy vehicles by giving way in merging). In the secondembodiment, only the difference from the first embodiment will bedescribed.

FIG. 22 is a diagram showing a method in which an independent vehiclecuts in between convoy vehicles to merge therewith. In FIG. 22, acommunication vehicle 1-1 and a communication vehicle 1-3 are adjacentconvoy vehicles incorporated in the same group of convoy vehicles. Onthe other hand, a communication vehicle 1-2 is an independent vehicle,and transmits request information to incorporate the communicationvehicle 1-2 into the group of convoy vehicles, to the communicationvehicle 1-1 and the communication vehicle 1-3. Here, if a fifthoperation key 824 (see FIG. 14) is operated in the communication vehicle1-2, then a joining control portion 72 of the communication vehicle 1-2transmits request information to incorporate the communication vehicle1-2 into the group of convoy vehicles, to the communication vehicle 1-1and the communication vehicle 1-3.

It is supposed that the driver of the communication vehicle 1-3 hasapproved the request information to incorporate the independent vehicleinto the group of convoy vehicles and has operated on the fourthoperation key 823 (see FIG. 14). Note that, with the approval of therequest information to incorporate the independent vehicle into thegroup of convoy vehicles (giving way in merging), point information isgranted to the driver of the communication vehicle 1-3. The pointinformation is stored in the storage portion 95 (see FIG. 2) of theconvoy travel control apparatus 100 that is mounted in the communicationvehicle 1-3.

Based on the output(s) from at least either of the positioning portion10 and the sensor portion 40, the travel control portion 71 determines apositional relationship between a position of the group of convoyvehicles and a position of the independent vehicle. For example, if theindependent vehicle is positioned nether in the forward direction nor inthe opposite direction of the group of convoy vehicles with respect tothe group of convoy vehicles, then the travel control portion 71determines that the independent vehicle is to merge with the group ofconvoy vehicles from a side of the group of convoy vehicles.

As shown on the left side of FIG. 22, the convoy vehicle that istravelling in convoy at the position closest to the communicationvehicle 1-3 is the communication vehicle 1-1. If the communicationvehicle 1-2 is not positioned within the range of the beam 41-3 of thesensor portion 40 of the communication vehicle 1-3, then based on theinformation indicative of the position of the communication vehicle 1-2that has been received by the position information sharing portion 74 a,the travel control portion 71 of the communication vehicle 1-3 ordersthe inter-vehicular distance control portion 50 and the lane keepingcontrol portion 60 to keep constant the distance between thecommunication vehicle 1-2 and the communication vehicle 1-3.

As shown at the center of FIG. 22, the inter-vehicular distance controlportion 50 of the communication vehicle 1-3 decelerates to make theinter-vehicular distance to communication vehicle 1-2 longer so that thecommunication vehicle 1-2 can merge (can be incorporated) between thecommunication vehicle 1-1 and the communication vehicle 1-3. Here, thetravel control portion 71 of the communication vehicle 1-3 determineswhether the inter-vehicular distance between the communication vehicle1-1 and the communication vehicle 1-3 is a predetermined inter-vehiculardistance that allows for incorporation into the group of convoy vehiclesor not. The state information sharing portion 74 c transmits theinformation, which indicates whether the inter-vehicular distance hascome to allow for incorporation into the group of convoy vehicles ornot, to the communication vehicle 1-2.

If the communication vehicle 1-2 is not positioned within the range ofthe beam 41-3 of the sensor portion 40 of the communication vehicle 1-3,then based on the information indicative of the position of thecommunication vehicle 1-2 that has been received by the positioninformation sharing portion 74 a, the travel control portion 71 of thecommunication vehicle 1-3 orders the inter-vehicular distance controlportion 50 and the lane keeping control portion 60 to keep the distancebetween the communication vehicle 1-2 and the communication vehicle 1-3equal to the inter-vehicular distance at the time of travelling inconvoy.

As shown on the right side of FIG. 22, based on the control by theinter-vehicular distance control portion 50 of the communication vehicle1-3 and on the control by the lane keeping control portion 60 of thecommunication vehicle 1-3, the travel control portion 71 of thecommunication vehicle 1-3 causes the communication vehicle 1-2 as anindependent vehicle to merge with the communication vehicle 1-1 and thecommunication vehicle 1-3, to thereby complete the formation of convoy.Here, the steering to merge the communication vehicle 1-2 as anindependent vehicle with the group of convoy vehicles is conducted bythe driver. With the operation on the second operation key 821 (see FIG.14), the driver of the communication vehicle 1-2 causes the string ofcharacters and the like “Thank you (graphical diagram)” indicative of amessage to be displayed in the message display area 83 of thepresentation portion 80 of the communication vehicle 1-3.

If the communication vehicle 1-2 is positioned within the range of thebeam 41-3 of the sensor portion 40 of the communication vehicle 1-3,then based on the inter-vehicular distance measured by the sensorportion 40, the travel control portion 71 of the communication vehicle1-3 orders the inter-vehicular distance control portion 50 to keep thedistance between the communication vehicle 1-2 and the communicationvehicle 1-3 equal to the inter-vehicular distance at the time oftravelling in convoy.

FIG. 23 is a flow chart showing an operational procedure in which, inconvoy formation mode, an independent vehicle merges with a group ofconvoy vehicles from a side of the group of convoy vehicles. Step Sh1 toStep Sh6 are an operational procedure that is performed by the convoytravel control apparatus 100 mounted in a convoy vehicle. Step Sh1 toStep Sh4 are similar to Step Sb1 to Step Sb4 shown in FIG. 10.Furthermore, Step Sh6 is similar to Step Sb6 shown in FIG. 10.

(Step Sh5)

If the independent vehicle is travelling along the side of the group ofconvoy vehicles when request information to incorporate the independentvehicle into the group of convoy vehicles is received, then the travelcontrol portion 71 orders the inter-vehicular distance control portion50 to make longer the inter-vehicular distance between the convoyvehicles in the group of convoy vehicles into which the independentvehicle is to be incorporated, to thereby control the group of convoyvehicles. Here, the travel control portion 71 transmits the requestinformation to make the inter-vehicular distance longer from the joiningcontrol portion 72 to other convoy vehicles, to thereby make longer theinter-vehicular distance between the other convoy vehicles. Here, as theother convoy vehicles, two convoy vehicles that are closest to theindependent vehicle are selected out of the convoy vehicles into whichthe independent vehicle is to be incorporated.

As described above, a convoy travel control apparatus 100 includes: acommunication portion 30 that communicates with another vehicle; atravel control portion 71 that actualizes travel in convoy with theanother vehicle through communication via the communication portion 30;and a joining control portion 72, wherein when its own vehicle istravelling in convoy while being incorporated in a group of vehiclestravelling in convoy, if the communication portion 30 receives, from anindependent vehicle that is not incorporated in the group of vehiclestravelling in convoy, request information to incorporate the independentvehicle into the group of convoy vehicles, then the joining controlportion 72 determines a positional relationship between a position ofthe group of convoy vehicles and a position of the independent vehicle,and wherein if the independent vehicle is travelling along a side of thegroup of convoy vehicles, then in order to incorporate the independentvehicle into the group of convoy vehicles, the joining control portion72 exercises control of making an inter-vehicular distance betweenconvoy vehicles of the group of convoy vehicles, into which theindependent vehicle is to be incorporated, on the group of convoyvehicles via the communication portion 30

With this structure, when its own vehicle is travelling in convoy, ifthe communication portion 30 receives, from an independent vehicle thatis not incorporated in the group of vehicles travelling in convoy,request information to incorporate the independent vehicle into thegroup of convoy vehicles, then the joining control portion 72 determinesa positional relationship between a position of the group of convoyvehicles and a position of the independent vehicle, and if theindependent vehicle is travelling along a side of the group of convoyvehicles, then in order to incorporate the independent vehicle into thegroup of convoy vehicles, the joining control portion 72 exercisescontrol of making an inter-vehicular distance between convoy vehicles ofthe group of convoy vehicles, into which the independent vehicle is tobe incorporated, on the group of convoy vehicles via the communicationportion 30.

As a result, the convoy travel control apparatus 100 is capable ofspeedily merging an independent vehicle with a group of convoy vehicles.For example, the convoy travel control apparatus 100 is capable ofspeedily merging an independent vehicle between convoy vehicles of thegroup of convoy vehicles into which the independent vehicle is to beincorporated. The convoy travel control apparatus 100 is capable ofminimizing the operation required for the driver in giving way inmerging.

The convoy travel control apparatus 100 includes: a presentation portion80 that presents a fact that the communication portion 30 has received arequest to incorporate the independent vehicle into the group of convoyvehicles.

The convoy travel control apparatus 100 includes an operation inputportion 90 that accepts an operation input for selecting whether toapprove the request to incorporate the independent vehicle into thegroup of convoy vehicles or not, wherein the joining control portion 72transmits information, which indicates the operation input, to theindependent vehicle via the communication portion 30.

In the convoy travel control apparatus 100, the presentation portion 80presents information indicative of a position of the independentvehicle.

In the convoy travel control apparatus 100, when its own vehicle istravelling in convoy while being incorporated in the group of convoyvehicles travelling in convoy, the joining control portion 72 determineswhether the convoy vehicles have come to be at a predeterminedinter-vehicular distance or not, and transmits information, whichindicates whether the convoy vehicles have come to be at thepredetermined inter-vehicular distance or not, to the independentvehicle via the communication portion 30.

In the convoy travel control apparatus 100, if before incorporation intothe group of convoy vehicles, its own vehicle is an independent vehicleand also convoy vehicles come to at the predetermined inter-vehiculardistance from each other, the joining control portion 72 causes its ownvehicle to be incorporated into the group of convoy vehicles.

The convoy travel control apparatus 100 includes: a sensor portion 40that measures an inter-vehicular distance between its own vehicle and apreceding vehicle; and an inter-vehicular distance control portion 50that controls a travel drive portion of its own vehicle so that theinter-vehicular distance measured by the sensor portion 40 is a setdistance, wherein the joining control portion 72 determines whether thepreceding vehicle is the independent vehicle or not, wherein if thepreceding vehicle is the independent vehicle, then based on theinter-vehicular distance measured by the sensor portion 40, theinter-vehicular distance control portion 50 controls the inter-vehiculardistance from its own vehicle to the preceding vehicle, and wherein ifthe preceding vehicle is not the independent vehicle, then based oninformation indicative of a position of the independent vehicle that hasbeen received by the communication portion 30, the inter-vehiculardistance control portion 50 controls the inter-vehicular distance fromits own vehicle to the preceding vehicle.

In other words, if an independent vehicle is not present within a beamirradiation range of the sensor portion 40 of a convoy vehicle that isallowed to incorporate the independent vehicle ahead, then based on theinformation indicative of the position of the independent vehicle thathas been received through communication, the convoy travel controlapparatus 100 calculates an inter-vehicular distance to the independentvehicle, and causes its own vehicle to travel in convoy so that theinter-vehicular distance is a set distance. This set distance is adistance that makes it easy for an independent vehicle to come in frontof its own vehicle. On the other hand, if the independent vehicle iscoming ahead to merge, and has come within the beam irradiation range ofthe sensor portion 40, then the convoy travel control apparatus 100switches to control of inter-vehicular distance based on the measurementresult by the sensor portion 40.

In the convoy travel control apparatus 100, the travel control portion71 orders the inter-vehicular distance control portion 50 to make theinter-vehicular distance between the independent vehicle and its ownvehicle equal to a preset distance.

The convoy travel control apparatus 100 includes: a state informationsharing portion 74 c that receives information indicative of a state infront of or behind a group of convoy vehicles; and a communicationcontrol portion 73 that receives, via the communication portion 30, atleast either of image information in which an interior of a convoyvehicle incorporated in the group of convoy vehicles is imaged and voiceinformation collected from the interior, wherein according to theinformation indicative of the state in front of or behind the group ofconvoy vehicles, the presentation portion 80 presents at least either ofthe image information and the voice information.

In the convoy travel control apparatus 100, based on an operation input,the communication control portion 73 transmits the voice informationcollected from its own vehicle.

The convoy travel control apparatus 100 includes a storage portion 95that stores point information granted to a driver in accordance withexperience of driving a convoy vehicle, wherein the presentation portion80 presents the point information.

In the convoy travel control apparatus 100, the storage portion 95stores point information that is granted to the driver according toexperience that satisfies a preset condition.

The convoy travel control apparatus 100 includes a position informationsharing portion 74 a that receives, via the communication portion,information indicative of a trail of a preceding vehicle, wherein thetravel control portion 71 causes its own vehicle to follow the trail.

Third Embodiment

A third embodiment is different from the first embodiment and the secondembodiment in that the driver of the independent vehicle is capable ofselecting from which of front, rear, and side of which convoy vehicleout of the convoy vehicles incorporated in the group of convoy vehicles,he or she can merge with the group of convoy vehicles. In the thirdembodiment, only the difference from the first embodiment and the secondembodiment will be described.

FIG. 24 is a diagram showing a second example of human interface image.In the operation key display area 82, there are depressably displayed: athird operation key 822; a fourth operation key 823; a sixth operationkey 825; a seventh operation key 826; an eighth operation key 827; and aninth operation key 828. In the seventh operation key 826, there isdisplayed “Join me between” as a string of characters that indicatesrequest information to incorporate its own vehicle between convoyvehicles. In the eighth operation key 827, there is displayed “Join mein front” as a string of characters that indicates request informationto incorporate its own vehicle into the group of convoy vehicles at thehead. In the ninth operation key 828, there is displayed “Join mebehind” as a string of characters that indicates request information toincorporate its own vehicle into the group of convoy vehicles at thetail end.

The driver of the independent vehicle selects from which of front, rear,and side of the group of convoy vehicles, its vehicle is to beincorporated into the group of convoy vehicles. Then, according to theselection, the driver depresses the seventh operation key 826, theeighth operation key 827, or the ninth operation key 828. The joiningcontrol portion 72 (see FIG. 2) transmits a signal, which indicatesrequest information to incorporate the independent vehicle (own vehicle)into the group of convoy vehicles, and a message according to thedepressing operation (for example, the string of characters “Join mebetween”) to the convoy vehicles incorporated in the group of convoyvehicles.

Note that the third operation key 822, the fourth operation key 823, thesixth operation key 825, the seventh operation key 826, the eighthoperation key 827, and the ninth operation key 828 may always bedisplayed in the operation key display area 82 of the presentationportion 80. However, if the own vehicle is not travelling within apredetermined distance from the group of convoy vehicles, then they maynot be displayed.

Furthermore, the seventh operation key 826, the eighth operation key827, and the ninth operation key 828 may be displayed in the operationkey display area 82 side by side, or alternatively, based on thepositional relationship between the position of the group of convoyvehicles and the position of the independent vehicle, only any one ofthem may be displayed. For example, based on the position and traveldirection of the group of convoy vehicles and on the position of the ownvehicle, the joining control portion 72 determines in which of front,rear, and side of the group of convoy vehicles, the own vehicle ispositioned. If its own vehicle is travelling in front of the group ofconvoy vehicles, then the presentation portion 80 may display only theeighth operation key 827 in the operation key display area 82 out of theseventh operation key 826, the eighth operation key 827, and the ninthoperation key 828.

As described above, based on the positional relationship between theposition of the group of convoy vehicles and the position of its ownvehicle, the presentation portion 80 switches operation keys to bedisplayed.

As a result, the driver is capable of selecting from front, behind, orside of which convoy vehicle out of the convoy vehicles incorporated inthe group of convoy vehicles, he or she is to merge with the group ofconvoy vehicles.

While aspects of the present invention have been described above by useof embodiments, the present invention is not limited to theseembodiments at all, and various modifications and replacements can bemade without departing from the spirit or scope of the presentinvention.

BRIEF DESCRIPTION OF THE REFERENCE SYMBOLS

-   1: communication vehicle (convoy vehicle, independent vehicle,    preceding vehicle)-   2: non-communication vehicle (preceding vehicle)-   10: positioning portion-   11: positional range-   20: imaging portion-   21: forward imaging portion-   22: in-vehicle imaging portion-   23: microphone-   30: communication portion-   40: sensor portion-   41: beam-   50: inter-vehicular distance control portion-   60: lane keeping control portion-   70: control portion-   71: travel control portion-   71 a: image recognition portion-   72: joining control portion-   73: communication control portion-   74: information sharing portion-   74 a: position information sharing portion-   74 b: identification information sharing portion-   74 c: state information sharing portion-   80: presentation portion-   81: main image display area-   82: operation key display area-   83: message display area-   84: travel information display area-   85: information display area-   90: operation input portion-   95: storage portion-   100: convoy travel control apparatus-   200: event-   810: forward video display area-   811: first interior video display area-   812: second interior video display area-   813: third interior video display area-   820: first operation key-   821: second operation key-   822: third operation key-   823: fourth operation key-   824: fifth operation key-   825: sixth operation key-   826: seventh operation key-   827: eighth operation key-   828: ninth operation key

1. A convoy travel control apparatus, comprising: a communicationportion that communicates with another vehicle; a travel control portionthat actualizes travel in convoy with the another vehicle throughcommunication via the communication portion; a joining control portion;a forward imaging portion that takes an image of a preceding vehicle; animage recognition portion that, based on an image taken by the forwardimaging portion, recognizes an identification number allocated to theimaged preceding vehicle; and an identification information sharingportion that receives an identification number allocated to a convoyvehicle incorporated into the group of convoy vehicles, wherein: when anown vehicle is travelling in convoy, if the communication portion hasreceived, from an independent vehicle not incorporated in group ofconvoy vehicles travelling in convoy, request information to incorporatethe independent vehicle into the group of convoy vehicles, then thejoining control portion exercises control, which is for incorporatingthe independent vehicle into the group of convoy vehicles, on the groupof convoy vehicles via the communication portion, and if theidentification number allocated to the imaged preceding vehicle matcheswith the identification number allocated to the convoy vehicle, then thejoining control portion determines that the imaged preceding vehicle isthe convoy vehicle.
 2. The convoy travel control apparatus according toclaim 1, wherein: if the independent vehicle is travelling behind thegroup of convoy vehicles, then the joining control portion deceleratesthe group of convoy vehicles, and if the independent vehicle istravelling in front of the group of convoy vehicles, then the joiningcontrol portion transmits, via the communication portion, informationthat requires to accelerate the group of convoy vehicles.
 3. The convoytravel control apparatus according to claim 1, further comprising: asensor portion that measures an inter-vehicular distance between the ownvehicle and a preceding vehicle; an inter-vehicular distance controlportion that controls a travel drive portion of the own vehicle so thatthe inter-vehicular distance measured by the sensor portion is a setdistance; and a lane keeping control portion that controls a steeringportion of the own vehicle so that the own vehicle does not deviate froma driving lane, wherein: the joining control portion determines whetheran inter-vehicular distance and a difference in speed between convoyvehicles incorporated in the group of convoy vehicles are withinpredetermined ranges or not, and if the inter-vehicular distance and thedifference in speed between the convoy vehicles are within thepredetermined ranges, then the travel control portion causes the ownvehicle to travel in convoy based on control by the inter-vehiculardistance control portion and on control by the lane keeping controlportion.
 4. The convoy travel control apparatus according to claim 3,wherein if the own vehicle is travelling in convoy, then the travelcontrol portion orders the inter-vehicular distance control portion toperform inter-vehicular distance control with the set distance shorterthan a case where the own vehicle is not travelling in convoy.
 5. Theconvoy travel control apparatus according to claim 1, wherein: if theindependent vehicle is travelling behind the group of convoy vehicles,then the joining control portion generates information of speed changerequest that accelerates the independent vehicle, if the independentvehicle is travelling in front of the group of convoy vehicles, then thejoining control portion generates information of speed change requestthat decelerates the independent vehicle, and the joining controlportion transmits the generated information of speed change request tothe independent vehicle via the communication portion.
 6. The convoytravel control apparatus according to claim 1, further comprising asensor portion that measures an inter-vehicular distance between the ownvehicle and a preceding vehicle, wherein: the joining control portioncalculates a position of the preceding vehicle based on theinter-vehicular distance measured by the sensor portion, and if adistance between the calculated position of the preceding vehicle and aposition of a convoy vehicle incorporated into the group of convoyvehicles is within a predetermined distance, then the joining controlportion determines that the preceding vehicle is the convoy vehicle. 7.(canceled)
 8. The convoy travel control apparatus according to claim 3,further comprising a state information sharing portion that receivesinformation indicative of a state in front of or behind the group ofconvoy vehicles, wherein according to the information indicative of thestate in front of or behind the group of convoy vehicles, the travelcontrol portion controls travel of the group of convoy vehicles.
 9. Theconvoy travel control apparatus according to claim 8, wherein if theinformation indicative of the state in front of or behind the group ofconvoy vehicles is information indicative of a predetermined event, thenthe travel control portion orders the inter-vehicular distance controlportion to change the inter-vehicular distance.
 10. The convoy travelcontrol apparatus according to claim 8, wherein if the informationindicative of the state in front of or behind the group of convoyvehicles is information indicative of a predetermined event, then thetravel control portion orders the lane keeping control portion to changea position of the own vehicle with respect to a lane.
 11. The convoytravel control apparatus according to claim 8, further comprising acommunication control portion, wherein if the communication portionreceives at least either of image information in which an interior ofthe convoy vehicle incorporated in the group of convoy vehicles is takenand voice information collected from the interior of the convoy vehicle,then according to the information indicative of the state in front of orbehind the group of convoy vehicles, the communication control portiondetermines whether each in the group of convoy vehicles is capable oftravelling safely or not, and the communication control portion controlsthe presentation portion so as to present at least either of the imageinformation and the voice information.
 12. The convoy travel controlapparatus according to claim 11, wherein the communication controlportion transmits voice information, which has been collected from theown vehicle, via the communication portion based on an operation input.13. The convoy travel control apparatus according to claim 11, furthercomprising a storage portion that stores point information granted to adriver according to experience of driving the convoy vehicle, whereinthe presentation portion presents the point information.
 14. The convoytravel control apparatus according to claim 13, wherein the storageportion stores the point information granted to the driver according tothe experience that satisfies a preset condition.
 15. The convoy travelcontrol apparatus according to claim 1, further comprising a positioninformation sharing portion that receives information indicative of atrail of a preceding vehicle, wherein the travel control portion causesan own vehicle to follow the trail.
 16. The convoy travel controlapparatus according to claim 1, wherein: the joining control portiondetermines a positional relationship between a position of the group ofconvoy vehicles and a position of the independent vehicle, and accordingto the determined positional relationship, then the joining controlportion exercises control, which is for incorporating the independentvehicle into the group of convoy vehicles, on the group of convoyvehicles via the communication portion.
 17. The convoy travel controlapparatus according to claim 11, wherein if no other vehicles arepresent around the group of convoy vehicles, then the communicationcontrol portion determines whether each in the group of convoy vehiclesis capable of travelling safely or not.
 18. The convoy travel controlapparatus according to claim 11, wherein if a road shape ahead of thegroup of convoy vehicles is straight, then the communication controlportion determines whether each in the group of convoy vehicles iscapable of travelling safely or not.
 19. The convoy travel controlapparatus according to claim 1, wherein if a timing indicated by areceived lighting timing information matches with a timing at which alight source portion imaged by the forward imaging portion lights up,then the travel control portion determines that an imaged precedingvehicle is a communication vehicle.
 20. The convoy travel controlapparatus according to claim 1, wherein if any one of the convoy vehicleahead determines that there is not an obstacle ahead, then the travelcontrol portion determines that there is not the obstacle in front ofthe own vehicle.
 21. The convoy travel control apparatus according toclaim 1, wherein the driver of the independent vehicle is capable ofselecting from which of front, rear, and side of the convoy vehiclesincorporated in the group of convoy vehicles, the driver of theindependent vehicle can merge with the group of convoy vehicles.